/*
 * File: J_rl_T02_q1.c
 *
 * MATLAB Coder version            : 5.2
 * C/C++ source code generated on  : 22-Apr-2025 04:07:29
 */

/* Include Files */
#include "J_rl_T02_q1.h"
#include <math.h>

/* Function Definitions */
/*
 * J_RL_T02_Q1
 *     U21 = J_RL_T02_Q1(IN1,IN2)
 *
 * Arguments    : const double in1[4]
 *                const double in2[4]
 *                double u21[16]
 * Return Type  : void
 */
void J_rl_T02_q1(const double in1[4], const double in2[4], double u21[16])
{
  double b_u21_tmp;
  double t2;
  double t3;
  double t4;
  double t5;
  double t6;
  double t7;
  double t8;
  double t9;
  double u21_tmp;
  /*     This function was generated by the Symbolic Math Toolbox version 8.7.
   */
  /*     21-Apr-2025 11:22:21 */
  t2 = cos(in2[0]);
  t3 = cos(in2[1]);
  t4 = cos(in1[0]);
  t5 = cos(in1[1]);
  t6 = sin(in2[0]);
  t7 = sin(in2[1]);
  t8 = sin(in1[0]);
  t9 = sin(in1[1]);
  u21_tmp = t3 * t4;
  u21[0] = -t5 * t8 - u21_tmp * t9;
  b_u21_tmp = t2 * t3;
  u21[1] = t2 * t4 * t5 - b_u21_tmp * t8 * t9;
  u21[2] = t4 * t5 * t6 - t3 * t6 * t8 * t9;
  u21[3] = 0.0;
  u21[4] = t8 * t9 - u21_tmp * t5;
  u21[5] = -t2 * t4 * t9 - b_u21_tmp * t5 * t8;
  u21[6] = -t4 * t6 * t9 - t3 * t5 * t6 * t8;
  u21[7] = 0.0;
  u21[8] = t4 * t7;
  u21[9] = t2 * t7 * t8;
  u21[10] = t6 * t7 * t8;
  u21[11] = 0.0;
  u21[12] = 0.0;
  u21[13] = 0.0;
  u21[14] = 0.0;
  u21[15] = 0.0;
}

/*
 * File trailer for J_rl_T02_q1.c
 *
 * [EOF]
 */
